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AME352 Lecture Week Actuator Part1

The document discusses various types of motors and actuators, including brushed, brushless, stepper, and piezo motors, along with their characteristics and power equations. It also explores the concept of behavior-based robotics, emphasizing the importance of simplicity and incremental development in robotic systems. The document highlights the subsumption architecture and its application in robotic behaviors, showcasing practical implementations like robot navigation and mowing.

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9 views39 pages

AME352 Lecture Week Actuator Part1

The document discusses various types of motors and actuators, including brushed, brushless, stepper, and piezo motors, along with their characteristics and power equations. It also explores the concept of behavior-based robotics, emphasizing the importance of simplicity and incremental development in robotic systems. The document highlights the subsumption architecture and its application in robotic behaviors, showcasing practical implementations like robot navigation and mowing.

Uploaded by

tsowat99
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
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AME 352

Motors & Actuators

Part I
Motor Types

• Brushed
• Brushless
• Stepper Motor
• Piezo Motor

2
Inside a DC Motor

3
Motor Integrated with
Encoder
• Motor and optical encoder

4
Motor Power Equation (Simplified)

• Net Mech Power = Power In- Resistive Losses

• Eb = Back EMF, net voltage accounting for


voltage induced from motor spinning.
• Ia = Current
• V = Voltage In
• Ra = Motor Resistance
5
Back EMF

• Back EMF property of the motor:

N = speed in RPM
 = Flux per pole
Z = no. of conductors
P = no. of pole pairs
A = Area of conductor
6
Torque and Power
• Net power into motor = Torque x Angular Velocity

• T = Torque output from motor


•  = Angular velocity.

7
DC Motor Characteristics

8
Stepper Motor

• Stepper motor perform precise movement:

• But has low torque, low speed and hence


limited uses.
9
Stepper Motor

• Stepper motor perform precise rotation:

• Theta s is the step angle and it divides up


a circle into:

m = number of phases
Nr = number of rotor teeth
10
Servo

• Built-in Motor and Encoder for precise


movement. Typically, 0 to 180 degrees.
• Single input wire.

11
Pulse Width Modulation

• Uses Pulse Width Modulation to Control


Servo:
• On-time period (1-2 ms) proportional to
angle (0 to 180 degrees).

12
PWM at Work

13
PWM Encoding

• 0 deg -> 1 ms pulse


• 90 deg -> 1.5 ms pulse
• 180 deg -> 2 ms pulse

14
PWM Encoding

• PWM widely used for motor control.


• Set position on servo, to throttle power in.
• More to be discussed next lecture.
• Also as method for capturing input analog
signal.

15
PWM Example

• By varying pulse width, you can create


long period signals.

16
Classic Sense, Plan, Act

• Idealized Model of Intelligent Robotics Control

• But, HW was not advanced enough.


• Sensing to Perception not well developed.
• Systems become too slow to become practical.

17
Rethink

• Should we be comparing robots to


ourselves?
• How about simpler organisms?
• How do they live?
• How do they survive?

18
Rethink Robotics

• Went from lofty architecture to simple,


practical implementation.

19
Elephant’s Don’t Play
Chess

20
Rodney Brooks

• Rodney Brooks led the “Behavior Based


Robotics” Movement.
• Rethink about robot intelligence.
• Analogy of the “Cambrian Explosion”

21
Cambrian Explosion

• Cambrian Era, 530 million years ago


• Rapid evolution of complex multi-cellular organisms
• Crustaceans, worms, insects
22
Pre-Cambrian Era

• Single and simple multi-cellular colonies.


23
Model Simple Organisms

• Relatively simple organisms

Termites Ants Honeybees


• Simple set of survival behaviors.
• Easy to observe.
24
Subsumption
Architecture

• Implemented on Genghis, 6-legged robot.

25
Behavior Breakdown

• Task: Foraging

26
Subsumption Layered
Architecture

• Resultant pile-up of behaviors result in


more complex net behavior.
27
Subsumption Layering

28
Layering

• The layering behavior results in


combination that are seemingly complex
and show spurts of ‘intelligence.’

• Imagine an ant safely getting through a


maze, laying down pheromones so that
the rest of nest gets it right every time!

29
Subsumption (Brooks,
1986)
• Layers built on lowest competence:
• Collision Avoidance

30
Layering

• Navigation

31
Subsumption (Brooks,
1986)

32
Behavior Based Robotics

33
Another Subsumption
Layer

34
Robot Mower

• Behaviors?
• Move Forward
• Move Backward
• Turn Right
• Turn Left
• Perform random move.

• Obstacle Avoid
• Avoid (bump =obstacle)
• Avoid(wire = boundary

• Stop
• Stop Button 35
Robot Maze Navigation

• Basis Behaviors:
• Move Forward
• Move Backwards
• Turn Right 90 deg
• Turn Left 90 deg
• Pickup Obstacle In Front
• Putdown Obstacle To Side
• Read Sign
• Stop

36
Robot Maze Navigation
1. Turn Left 90
2. Read Sign
3. Move Forward
4. Pickup Obstacle
5. Putdown Obstacle
6. Pickup Obstacle
7. Putdown Obstacle
8. Move Forward
9. Pickup Obstacle
10. Putdown Obstacle
11. Move Forward
12. Move Forward
13. Read Sign
13. Move Forward

37
Robot Arm

• Behavior Based Robotics

38
Conclusions

• Intelligence is in the eye of the observer


• World is its best model
• Simplicity is a virtue.
• Systems should be built incrementally.

39

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